Mitsubishi CR750-Q Series Instruction Manual page 54

Item
Course Offset
Output signal
Head bit
Mask bit
Output value
Beginning delay
End delay
Each item set in this dialog box becomes valid for all edges displayed in the segment list.
Offsets the course of a line.
Enter a value directly into the text box or enter the amount of offset in the
offset input dialog box displayed by clicking the button next to the text
box.
Specify the amount of offset in the coordinate system where the forward
direction of the segment course is set as the +X-axis direction and the
direction away from a face as the +Z-axis direction.
For example, when tracing a curve, the Y component indicates the
inward/outward rotation, the Z component indicates the amount of
approach and the A component indicates the bank angle. The figure
below shows an example where the Y component is corrected.
X Y
Y
The examples in the figures below show the standard conditions,
conditions where the Z component is corrected, and conditions where
the A component are corrected, respectively.
X
Y
Z
Standard condition
correction
Sets the signal condition.
If the check box is disabled:
The signal status before processing is maintained as is.
If the check box is enabled:
Turns the signal on according to the set conditions and off at completion.
When outputting signals while the robot is processing a segment, it is
possible to specify the head bit of the output signal (decimal expression).
Specify the bits to be controlled for 16 bits from the head bit
(hexadecimal expression).
Specify a value to be output (decimal expression). The actual output
consists of the bits, starting from the head bit, for which the
corresponding mask bits are turned on.
Allows specifying to turn a signal on after the specified time (in milli
seconds) has elapsed since the beginning of movement. A negative
value can be set here as well. In this case, the robot starts moving after
the specified number of seconds has elapsed after the signal is output.
Allows specifying to turn a signal on after the specified time (in milli
seconds) has elapsed since the end of movement. A negative value can
be set here as well. In this case, the signal is turned off the specified
number of seconds before the robot reaches the end point.
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Explanation
X
CAD output result
Processing path after
Y
offset calculation
X
Z component correction A component